Spring loaded inverted pendulum running: a plant model

Running in Three Dimensions: Analysis of a Point-mass Sprung-leg Model

International Journal of Robotics Research

On the Stability of the Passive Dynamics of Quadrupedal Running with a Bounding Gait

International Journal of Robotics Research

A Novel Method of Gait Synthesis for Bipedal Fast Locomotion

Journal of Intelligent and Robotic Systems

The mechanics of biped running and a stable control strategy

Robotica

An approximate stance map of the spring mass hopper with gravityorrection for nonsymmetric locomotions

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation

Reactive footstep planning for a planar spring mass hopper

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

Control of underactuated planar pronking through an embedded spring-mass Hopper template

Autonomous Robots

Self-stabilising quadrupedal running by mechanical design

Applied Bionics and Biomechanics